US12608016B2 - Information processing device, information processing method, and computer program - Google Patents

Information processing device, information processing method, and computer program

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Publication number
US12608016B2
US12608016B2 US18/704,121 US202218704121A US12608016B2 US 12608016 B2 US12608016 B2 US 12608016B2 US 202218704121 A US202218704121 A US 202218704121A US 12608016 B2 US12608016 B2 US 12608016B2
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Prior art keywords
information
area
robots
data structure
processing device
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US18/704,121
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English (en)
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US20240427344A1 (en
Inventor
Yuki HIROHASHI
Yosuke NARUSE
Hiroshi Tasaki
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Omron Corp
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Omron Corp
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G05D1/2462—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using feature-based mapping
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/383—Indoor data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/639—Resolving or avoiding being stuck or obstructed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/693—Coordinated control of the position or course of two or more vehicles for avoiding collisions between vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40518—Motion and task planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/003—Maps
    • G09B29/006—Representation of non-cartographic information on maps, e.g. population distribution, wind direction, radiation levels, air and sea routes
    • G09B29/007—Representation of non-cartographic information on maps, e.g. population distribution, wind direction, radiation levels, air and sea routes using computer methods

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Instructional Devices (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
US18/704,121 2021-11-09 2022-11-01 Information processing device, information processing method, and computer program Active 2043-01-17 US12608016B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-182662 2021-11-09
JP2021182662A JP7779092B2 (ja) 2021-11-09 2021-11-09 情報処理装置、情報処理方法及びコンピュータプログラム
PCT/JP2022/040931 WO2023085179A1 (ja) 2021-11-09 2022-11-01 情報処理装置、情報処理方法及びコンピュータプログラム

Publications (2)

Publication Number Publication Date
US20240427344A1 US20240427344A1 (en) 2024-12-26
US12608016B2 true US12608016B2 (en) 2026-04-21

Family

ID=86331541

Family Applications (1)

Application Number Title Priority Date Filing Date
US18/704,121 Active 2043-01-17 US12608016B2 (en) 2021-11-09 2022-11-01 Information processing device, information processing method, and computer program

Country Status (5)

Country Link
US (1) US12608016B2 (de)
EP (1) EP4432037A4 (de)
JP (2) JP7779092B2 (de)
CN (1) CN118215896A (de)
WO (1) WO2023085179A1 (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024262039A1 (ja) * 2023-06-23 2024-12-26 株式会社日立ハイテク 移動体制御システム
JP2025141299A (ja) * 2024-03-15 2025-09-29 オムロン株式会社 運行管理システム、管理装置、方法、及びプログラム

Citations (10)

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JPH0481905A (ja) 1990-07-25 1992-03-16 Nippon Yusoki Co Ltd 無人搬送システムにおける走行管理のシミュレーション方法
US5283739A (en) 1985-08-30 1994-02-01 Texas Instruments Incorporated Static collision avoidance method for multiple automatically guided vehicles
JP2003140747A (ja) 2001-11-01 2003-05-16 Matsushita Electric Works Ltd 自律移動装置及び自律移動装置運用システム
JP2005032196A (ja) 2003-07-11 2005-02-03 Japan Science & Technology Agency 移動ロボット用経路計画システム
US20130103552A1 (en) 2011-10-19 2013-04-25 Kiva Systems, Inc. System and method for inventory management using mobile drive units
CN111353701A (zh) 2020-02-27 2020-06-30 兰剑智能科技股份有限公司 一种agv交叉区域的限行调度方法及调度系统
JP2020187551A (ja) 2019-05-14 2020-11-19 株式会社豊田自動織機 自律走行車
US20210041243A1 (en) * 2019-08-06 2021-02-11 Boston Dynamics, Inc. Intermediate Waypoint Generator
WO2021181630A1 (ja) 2020-03-12 2021-09-16 三菱電機株式会社 移動体の協調制御装置および管理システム
CN114355888A (zh) * 2021-12-07 2022-04-15 西安交通大学 基于直骨架的室内多级拓扑地图的自动生成方法及系统

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* Cited by examiner, † Cited by third party
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JP4329667B2 (ja) * 2004-10-12 2009-09-09 パナソニック電工株式会社 自律移動システム
JP5332561B2 (ja) * 2008-12-03 2013-11-06 セイコーエプソン株式会社 ロボットの制御方法およびロボットの制御システム
JP6762919B2 (ja) * 2017-09-14 2020-09-30 東芝映像ソリューション株式会社 走行経路計画装置、方法、プログラム及び移動体
US11643073B2 (en) * 2019-10-24 2023-05-09 Zoox, Inc. Trajectory modifications based on a collision zone

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5283739A (en) 1985-08-30 1994-02-01 Texas Instruments Incorporated Static collision avoidance method for multiple automatically guided vehicles
JPH0481905A (ja) 1990-07-25 1992-03-16 Nippon Yusoki Co Ltd 無人搬送システムにおける走行管理のシミュレーション方法
JP2003140747A (ja) 2001-11-01 2003-05-16 Matsushita Electric Works Ltd 自律移動装置及び自律移動装置運用システム
JP2005032196A (ja) 2003-07-11 2005-02-03 Japan Science & Technology Agency 移動ロボット用経路計画システム
US20130103552A1 (en) 2011-10-19 2013-04-25 Kiva Systems, Inc. System and method for inventory management using mobile drive units
JP2020187551A (ja) 2019-05-14 2020-11-19 株式会社豊田自動織機 自律走行車
US20210041243A1 (en) * 2019-08-06 2021-02-11 Boston Dynamics, Inc. Intermediate Waypoint Generator
CN111353701A (zh) 2020-02-27 2020-06-30 兰剑智能科技股份有限公司 一种agv交叉区域的限行调度方法及调度系统
WO2021181630A1 (ja) 2020-03-12 2021-09-16 三菱電機株式会社 移動体の協調制御装置および管理システム
CN114355888A (zh) * 2021-12-07 2022-04-15 西安交通大学 基于直骨架的室内多级拓扑地图的自动生成方法及系统

Non-Patent Citations (8)

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Title
Digani et al., "Ensemble Coordination Approach in Multi-AGV Systems Applied to Industrial Warehouses", IEEE Transactions On Automation Science and Engineering, vol. 12, No. 3, Jul. 2015, pp. 922-934.
Extended European Search Report issued in corresponding European Patent Application No. 22892678.8, dated Aug. 11, 2025.
International Search Report and Written Opinion dated Jan. 10, 2023, for corresponding International Patent Application No. PCT/JP2022/040931.
Wang et al.; Wide Range Global Path Planning for a Large Number of Networked Mobile Robots based on Generalized Voronoi Diagrams; 3rd IFAC Symposium on Telematics Applications The International Federation of Automatic Control Nov. 11-13, 2013. Seoul, Korea; pp. 107-112 (Year: 2013). *
Digani et al., "Ensemble Coordination Approach in Multi-AGV Systems Applied to Industrial Warehouses", IEEE Transactions On Automation Science and Engineering, vol. 12, No. 3, Jul. 2015, pp. 922-934.
Extended European Search Report issued in corresponding European Patent Application No. 22892678.8, dated Aug. 11, 2025.
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Wang et al.; Wide Range Global Path Planning for a Large Number of Networked Mobile Robots based on Generalized Voronoi Diagrams; 3rd IFAC Symposium on Telematics Applications The International Federation of Automatic Control Nov. 11-13, 2013. Seoul, Korea; pp. 107-112 (Year: 2013). *

Also Published As

Publication number Publication date
WO2023085179A1 (ja) 2023-05-19
JP7786445B2 (ja) 2025-12-16
JP2023070462A (ja) 2023-05-19
US20240427344A1 (en) 2024-12-26
JP7779092B2 (ja) 2025-12-03
CN118215896A (zh) 2024-06-18
JP2024003200A (ja) 2024-01-11
EP4432037A4 (de) 2025-09-10
EP4432037A1 (de) 2024-09-18

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